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Robot Motion and Control 2011

  • Conference proceedings
  • © 2012

Overview

Editors:
  1. Krzysztof Kozłowski

    1. , Institute of Control and Systems, Poznań University of Technology, Poznań, Poland

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  • Presents the most recent results and developments in the field of robot motion and control
  • Covers nonlinear control of nonholonomic systems and legged robots as well as trajectory planning for these systems, expanding on work presented in previous proceedings from the same conference and not covered in other books.

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 422)

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Table of contents (34 papers)

  1. Front Matter

    Pages 1-23
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  2. Control and Localization of Mobile Robots

    1. Front Matter

      Pages 1-1
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    2. Symmetries in Observer Design: Review of Some Recent Results and Applications to EKF-based SLAM

      • Silvère Bonnabel
      Pages 3-15

    3. Constraint Control of Mobile Manipulators

      • Mirosław Galicki
      Pages 17-26

    4. Control Methods for Wheeeler – The Hypermobile Robot

      • Grzegorz Granosik, Michał Pytasz
      Pages 27-37

    5. Tracking Control Strategy for the Standard N-trailer Mobile Robot – A Geometrically Motivated Approach

      • Maciej Michałek
      Pages 39-51

    6. Robust Control of Differentially Driven Mobile Platforms

      • Alicja Mazur, Mateusz Cholewiński
      Pages 53-64

    7. Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique

      • Barbara Siemia̧tkowska, Rafał Chojecki, Mateusz Wiśniowski, Michał Walȩcki, Marcin Wielgat, Jakub Michalski
      Pages 65-74

    8. Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping

      • Katarzyna Zadarnowska, Adam Ratajczak
      Pages 75-85

  3. Control of Legged Robots

    1. Front Matter

      Pages 87-87
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    2. First Steps toward Automatically Generating Bipedal Robotic Walking from Human Data

      • Aaron D. Ames
      Pages 89-116

    3. Dynamic Position/Force Controller of a Four Degree-of-Freedom Robotic Leg

      • Arne Rönnau, Thilo Kerscher, Rüdiger Dillmann
      Pages 117-126

    4. Perception-Based Motion Planning for a Walking Robot in Rugged Terrain

      • Dominik Belter
      Pages 127-136

    5. Improving Accuracy of Local Maps with Active Haptic Sensing

      • Krzysztof Walas
      Pages 137-146

    6. Postural Equilibrium in Two-Legged Locomotion

      • Teresa Zielińska
      Pages 147-156

  4. Control of Robotic Systems

    1. Front Matter

      Pages 157-157
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    2. Generalized Predictive Control of Parallel Robots

      • Fabian A. Lara-Molina, João M. Rosario, Didier Dumur, Philippe Wenger
      Pages 159-169

    3. Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System

      • Cezary Zieliński, Tomasz Kornuta, Piotr Trojanek, Tomasz Winiarski, Michał Walęcki
      Pages 171-182

    4. Indirect Linearization Concept through the Forward Model-Based Control System

      • Rafał Osypiuk
      Pages 183-192

    5. Research Oriented Motor Controllers for Robotic Applications

      • Michał Walęcki, Konrad Banachowicz, Tomasz Winiarski
      Pages 193-203
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Keywords

About this book

Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field.
The following recent developments are discussed:
Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors.
New control algorithms for industrial robots, nonholonomic systems and legged robots.
Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others.
Multiagent systems consisting of mobile and flying robots with their applications
The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists and researchers working in these fields.

Editors and Affiliations

  • , Institute of Control and Systems, Poznań University of Technology, Poznań, Poland

    Krzysztof Kozłowski

About the editor

The editor and the international members of the Program Committee have been working in the area of robotics and automation for many years. They gained experience in various fields of robotics and basically are working on control theory with applications to robotics for many years. In the proposed book we would like to inform the readers about recent developments in robot motion and control and their application in industry and various fields of everyday life which is not available elsewhere. The book is addressed to graduate and Ph.D. students of robotics and automation, informatics, mechatronics and production engineering systems, scientists and researchers working in the field of robotics and automation.

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